Sensor system for vehicle

ABSTRACT

A sensor system has object detection sensors  4  which are mounted on door mirrors  2  and have a parking space search mode for searching for an object within ranges extending laterally from a vehicle  14,  and a vehicle monitoring mode for searching for an object in rear lateral sides of the vehicle  14  by folding and retracting the door mirrors  2;  and a control section  7  for causing the object detection sensors  4  to be driven when the vehicle  14  travels at a speed equal to or less than a prescribed value, and for making a search frequency of the object detection sensors  4  higher in the parking space search mode than in the vehicle monitoring mode.

TECHNICAL FIELD

The present invention relates to a sensor system for a vehicle whichcarries out parking space detection and vehicle monitoring with sensorsfixed to door mirrors.

BACKGROUND ART

As a conventional system for detecting an object around a vehicle withsensors fixed to the door mirrors, a monitoring system for a vehicledisclosed in Patent Document 1 is known, for example. The systemoperates as a vehicle monitoring system by detecting the followingvehicle and the like in a blind spot of the door mirrors duringtraveling, or by monitoring an object at rear lateral sides of thevehicle during parking with ultrasonic sensors fixed to the doormirrors.

Patent Document 1: Japanese Patent Laid-Open No. 10-100795/1998.

The conventional system always sets the detection areas of theultrasonic sensors fixed to the door mirrors diagonally behind thevehicle. For this reason, although it can detect the following vehiclein the blind spot of the door mirrors while the vehicle is traveling, itcannot search for a parking space where the vehicle is to be parked.

In addition, the conventional system forms the detection areas of theultrasonic sensors at rear lateral sides of the vehicle by folding andretracting the door mirrors when the vehicle is stopped. This enablesthe same ultrasonic sensors fixed to the door mirrors to detect anobject at the rear lateral sides of the vehicle. The conventionalsystem, however, cannot alter the search frequency or search range ofthe ultrasonic sensors in accordance with the difference in theoperation mode when the vehicle is running or stopped or in accordancewith the result of the vehicle monitoring, thereby being unable tooperate the sensors efficiently.

For example, at parallel parking, it is not necessary to continuouslydrive the sensors throughout traveling, but to operate the sensors whenthe vehicle reduces its speed for searching for a parking space. Inaddition, it is necessary to detect the parking space accurately byincreasing the detection range and broadening the directivity angle ofthe sensors and by increasing the search frequency. On the other hand,in the case of using as the vehicle monitoring system while the vehicleis stopped, unlike the case of searching for the parking space, it isnot necessary to drive the sensors frequently, but is enough that thesurroundings of the vehicle are within the search range so that a remoteunnecessary obstacle is not detected.

The present invention is implemented to solve the foregoing problems.Therefore it is an object of the present invention to provide a sensorsystem for a vehicle capable of searching for a parking space duringrunning and capable of vehicle monitoring while the vehicle is stoppedby using the sensors fixed to the door mirrors, and capable of operatingthe sensors efficiently in accordance with the difference in theoperation mode when the vehicle is running or stopped, or in accordancewith the result of the vehicle monitoring.

DISCLOSURE OF THE INVENTION

The sensor system for a vehicle in accordance with the present inventionhas an object detection sensor which is mounted on a door mirror and hasa first search mode for searching for an object using a range extendinglaterally from a vehicle as a detection area, and a second search modefor searching for an object using a rear lateral side of the vehicle asa detection area by folding and retracting the door mirror; and acontrol section for causing the object detection sensor to be drivenwhen the vehicle travels at a speed equal to or less than a prescribedvalue, and for making a search frequency of the object detection sensorhigher in the first search mode than in the second search mode.

According to the present invention, since it searches for an object inthe range extending laterally from the vehicle by driving the objectdetection sensor mounted on the door mirror when the vehicle travels atthe speed equal to or less than the prescribed value, it can search fora parking space of the vehicle. In addition, when the vehicle is stoppedand the door mirror is folded and retracted, since it searches for anobject using the rear lateral side of the vehicle as the detection area,it can operate as a vehicle monitoring system when the vehicle isstopped. In addition, it can detect the parking space accurately becauseit searches for the parking space at a higher search frequency than inthe vehicle monitoring, and can achieve power saving in the vehiclemonitoring mode, thereby offering an advantage of being able to drivethe object detection sensor efficiently.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram showing a configuration of a sensor system fora vehicle of an embodiment 1 in accordance with the present invention;

FIG. 2 is a diagram showing detection areas of object detection sensorsin FIG. 1;

FIG. 3 is a diagram explaining detection of a parking space by thesensor system for a vehicle in FIG. 1;

FIG. 4 is a diagram showing a search frequency in each processing of avehicle parking decision, moving obstacle detection and moving obstacledecision in time series;

FIG. 5 is a diagram showing a manner of mounting an object detectionsensor;

FIG. 6 is a diagram showing modes of search directions of the objectdetection sensors;

FIG. 7 is a diagram explaining occurrence of a dead zone of the objectdetection sensor;

FIG. 8 is a diagram showing a search range of object detection sensorsof an embodiment 2;

FIG. 9 is a diagram showing a search range of the object detectionsensors of the embodiment 2;

FIG. 10 is a cross-sectional view showing a structure of the objectdetection sensors of the embodiment 2;

FIG. 11 is a graph showing relationships between a driving waveform andan oscillation frequency of an ultrasonic sensor;

FIG. 12 is a graph showing relationships between the impedance of anoscillator circuit of the object detection sensors and transmissionfrequencies of ultrasonic waves;

FIG. 13 is a diagram explaining processing of altering a detection rangein accordance with the transmission voltage and a transmission pulsewidth of the ultrasonic waves;

FIG. 14 is a block diagram showing a configuration of a sensor systemfor a vehicle of an embodiment 3 in accordance with the presentinvention; and

FIG. 15 is a diagram showing a combination deciding section of a sensorsystem for a vehicle of an embodiment 4 in accordance with the presentinvention.

BEST MODE FOR CARRYING OUT THE INVENTION

The best mode for carrying out the invention will now be described withreference to the accompanying drawings to explain the present inventionin more detail.

Embodiment 1

FIG. 1 is a block diagram showing a configuration of a sensor system fora vehicle of an embodiment 1 in accordance with the present invention.In FIG. 1, the sensor system 1 for a vehicle of the embodiment 1includes an object detection sensor 4, a door mirror controller 5, avehicle speed sensor 6, a control section 7, an object detectiondeciding section 12 and a moving obstacle detection deciding section 13.

A door mirror 2 is mounted on both sides of a vehicle, and has a mirror3 and the object detection sensor 4 mounted thereon to compensate for afield of vision diagonally behind the vehicle. In addition, the doormirror 2 has a driving mechanism not shown which includes a drivingmotor and the like, and can be folded toward the side of the vehicle bythe driving control of the door mirror controller 5. In the following, astate in which the door mirrors 2 are folded is referred to as a closedstate, and a state in which the door mirrors 2 are placed at a normalposition at which they are raised from the closed state and areprojected from the side of the vehicle is referred to as an open state.

The object detection sensors 4 are sensors for detecting an object bytransmitting a search signal and by receiving its reflected signal, andare fixed to the door mirrors 2. The object detection sensors 4 starttheir search in response to a search command input from a transmissioncontrol section 9, and transmit a search result to the object detectiondeciding section 12 and moving obstacle detection deciding section 13.As the object detection sensors 4, ultrasonic sensors, optical sensors,radio usage sensors are conceivable, for example. The followingdescription will be made by way of example using the ultrasonic sensorsas the object detection sensors 4.

Incidentally, the ultrasonic sensors have, as their detection areas,attainable regions of the ultrasonic waves transmitted as searchsignals, and detect an object by receiving ultrasonic waves reflectedfrom the object within the detection areas. Transmitting ultrasonicwaves from the ultrasonic sensors starts a single search, and the numberof times of the transmission of the ultrasonic waves in a prescribedtime period becomes a search frequency.

The door mirror controller 5 controls open/close driving of the doormirrors 2 in response to a driving command input from the outside. Thedriving command is transmitted to the door mirror controller 5 inresponse to a button switch operable by a driver or to an off operationof the ignition key. In addition, the driving command input to the doormirror controller 5 is also transmitted from the door mirror controller5 to a door mirror open/close deciding section 8. The vehicle speedsensor 6 is a sensor for detecting a vehicle speed. Incidentally, thevehicle speed sensor 6 may be a wheel speed sensor for detecting therotation speed of wheels.

The control section 7, which is a functional component of an electroniccontrol unit (ECU) mounted on the vehicle, includes the door mirroropen/close deciding section 8, the transmission control section 9, asearch frequency determining section 10 and a vehicle speed decidingsection 11. The door mirror open/close deciding section 8 makes anopen/close decision of the door mirrors 2 in response to the drivingcommand input from the door mirror controller 5. The transmissioncontrol section 9 transmits a search command (measurement request pulse)to the object detection sensors 4 at the timing conforming to the searchfrequency decided by the search frequency determining section 10.

The search frequency determining section 10 decides the search frequencyof the object detection sensors 4 in accordance with the decisionresults of the door mirror open/close deciding section 8, vehicle speeddeciding section 11 and moving obstacle detection deciding section 13.For example, receiving the decision results that the door mirrors 2 areopen and the vehicle is traveling at a prescribed slow speed, the searchfrequency determining section 10 decides a search frequency higher thana prescribed value for performing detection processing of a parkingspace.

In contrast, when the door mirrors 2 are closed and the vehicle isstopped at a speed of 0 km/h, the search frequency determining section10 considers as a vehicle monitoring mode and decides a search frequencylower than the prescribed value. Even after the decision is made, if amoving obstacle is detected, the search frequency determining section 10switches the search frequency to a higher value.

The vehicle speed deciding section 11 decides as to whether the vehicleis traveling at the prescribed slow speed or less or is stopped (0 km/h)from the detection result of the vehicle speed sensor 6. Incidentally,when the speed of the vehicle is about 30 km/h or less, the vehiclespeed deciding section 11 makes a decision that it is the prescribedslow speed traveling for shifting to the search mode for a parkingspace.

The object detection deciding section 12, which is a functionalcomponent of the electronic control unit mounted on the vehicle, detectsa parking space from the search results of the object detection sensors4. For example, when carrying out parallel parking, the object detectiondeciding section 12 obtains the distance between other vehicles bydeciding edge positions of the parked vehicles from the search resultssuccessively input from the object detection sensors 4. If the distanceis enough for the vehicle to park, the object detection deciding section12 shows the driver as a parking space decision result via a presentingmeans not shown.

The moving obstacle detection deciding section 13, which is a functionalcomponent of the electronic control unit mounted on the vehicle, detectsan obstacle from the search results of the object detection sensors 4,and decides as to whether it is a moving obstacle or not. If it detectsa moving obstacle, the moving obstacle detection deciding section 13notifies the search frequency determining section 10. In response to it,the search frequency determining section 10 increases the searchfrequency of the object detection sensors 4, thereby being able tocontinuously search for a moving obstacle accurately which can be atrespasser approaching the vehicle.

FIG. 2 is a diagram showing detection areas of the object detectionsensors in FIG. 1: FIG. 2( a) shows detection areas during traveling;and FIG. 2( b) shows detection areas when the vehicle is stopped. Asshown in FIG. 2( a), during traveling of the vehicle 14, the doormirrors 2 are in an open state (normal position). In this case,detection areas 15 of the object detection sensors 4 are formed inranges laterally extending from the vehicle 14 rather than diagonallybehind the vehicle as in conventional cases. In this state, a search fora parking space is carried out (first search mode).

When the vehicle 14 is stopped, the door mirrors 2 are folded andretracted (closed state). In this case, the object detection sensors 4mounted on the casings of the door mirrors 2 look behind the vehicle 14.This will cause the detection areas 15 to move so that they are formedat rear lateral sides (side body 17 sides) of the vehicle 14 as shown inFIG. 2( b). In this state, a vehicle monitoring mode (second searchmode) is set so that the detection decision of a moving obstacle ismade.

Next, the operation will be described.

(1) Search for Parking Space

FIG. 3 is a diagram for explaining search processing for a parking spaceby the sensor system for a vehicle in FIG. 1. In FIG. 3, vehicles 14 aand 14 b are other vehicles parking at the roadside. It shows a case ofparallel parking of a vehicle 14 between the vehicles 14 a and 14 b. Thevehicle 14 is assumed to be traveling in the arrow direction in FIG. 3.

When the search frequency determining section 10 recognizes from thedecision results of the door mirror open/close deciding section 8 andvehicle speed deciding section 11 that the door mirrors 2 are in theopen state and the vehicle 14 is traveling at the prescribed slow speedor less (about 30 km/h or less), it determines the search frequency(high frequency) corresponding to the search mode for a parking space,and notifies the transmission control section 9. The transmissioncontrol section 9 transmits a search command to the object detectionsensors 4 at the timing corresponding to the search frequency sent fromthe search frequency determining section 10. Receiving the searchcommand (measurement request pulse) from the transmission controlsection 9, the object detection sensors 4 start driving, and begin thesearch at the search frequency decided by the search frequencydetermining section 10.

Here, the object detection sensor 4 transmits ultrasonic waves as asearch signal and receives a reflected signal of the ultrasonic wavesreflected from an obstacle. The object detection deciding section 12obtains the distance to the obstacle from the transmitting timing of theultrasonic waves by the object detection sensor 4 and the receivedtiming of the reflected signal of the ultrasonic waves. Portions denotedby broken lines in FIG. 3 show ultrasonic wave reflecting areas aboutthe vehicles 14 a and 14 b.

When carrying out the search with the object detection sensor 4 whiledriving the vehicle 14, from the side body of the vehicle 14 a as shownby a broken line in FIG. 3, a distance profile that indicates a nearlyconstant distance across the vehicles 14 and 14 a is obtained. Afterpassing by an edge portion 16 a by further driving the vehicle 14, itwill shift to the search using the front part of the vehicle 14 a as thereflecting area, and when the vehicle 14 a gets out of the detectionarea 15, significant distance detection based on the reflected signalfrom the vehicle 14 a cannot be carried out. This makes it possible toobtain the distance profile to the lateral part and front part of thevehicle 14 a as shown in FIG. 3. According to the distance profile aboutthe vehicle 14 a thus obtained, the object detection deciding section 12determines the position of the edge portion 16 a of the vehicle 14 a.

By further driving the vehicle 14, a search using a rear part of thevehicle 14 b as a reflecting area is carried out, and after passing byan edge portion 16 b, it will shift to the search using the side body ofthe vehicle 14 b as the reflecting area so that a distance profile thatindicates a nearly constant distance between the vehicles 14 and 14 b isobtained. According to the distance profile about the vehicle 14 b thusobtained, the object detection deciding section 12 determines theposition of the edge portion 16 b of the vehicle 14 b.

After that, according to the positions of the edge portions 16 a and 16b, the object detection deciding section 12 obtains the distance Abetween the edge portions 16 a and 16 b, and decides as to whether theparking is possible or not by comparing the distance A with the sizenecessary for parking the vehicle 14 itself. When a decision is madethat the parking is possible between the vehicles 14 a and 14 b, theobject detection deciding section 12 shows the driver the parking spacedecision result indicating that via a presenting means not shown.Another configuration is also possible which automatically assists thedriver in accordance with the parking space decision result.

Incidentally, although there is conventionally a system for searchingfor a parking space using a sensor mounted on a bumper of the vehicle,using the sensor fixed to the door mirror at the position higher thanthe bumper as in the present invention makes it possible to detect theoutermost edge of a vehicle such as a truck with a high floor.

(2) Vehicle Monitoring While Vehicle is Stopped

When the driver stops the vehicle 14, the vehicle speed deciding section11 notifies the search frequency determining section 10 that the vehicle14 makes a stop (speed 0 km/h). On the other hand, receiving the drivingcommand after the stop of the vehicle 14, the door mirror controller 5brings the door mirrors 2 into a closed state. Incidentally, it isconceivable that the driving command is input in response to the buttonswitch operation of the driver or to the turning off of the ignitionkey. When the door mirror open/close deciding section 8 decides that thedoor mirrors 2 are brought into the closed state, it notifies the searchfrequency determining section 10 of that.

When the search frequency determining section 10 recognizes from thedecision results of the door mirror open/close deciding section 8 andvehicle speed deciding section 11 that the vehicle 14 is stopped and thedoor mirrors 2 are in the closed state, it determines the searchfrequency (low frequency) corresponding to the vehicle monitoring mode,and notifies the transmission control section 9. The transmissioncontrol section 9 transmits the search command to the object detectionsensors 4 at the timing corresponding to the search frequency sent fromthe search frequency determining section 10. This causes the objectdetection sensors 4 to start the search at the search frequency decidedby the search frequency determining section 10.

In this case, because of the folding and retracting of the door mirrors2 as shown in FIG. 2( b), the detection areas 15 of the object detectionsensors 4 move to the rear lateral sides (side body 17 sides) of thevehicle 14. This state brings about a vehicle monitoring mode so thatthe moving obstacle detection deciding section 13 makes a detectiondecision of a moving obstacle by inputting a result every time thesearch by the object detection sensors 4 is carried out.

When the object detection sensor 4 detects the obstacle, the movingobstacle detection deciding section 13 successively receives thedetection result of the obstacle at each search, detects the dynamicbehavior of the obstacle from the result of comparing the detectionresult of the past search with the detection result of the currentsearch, and decides whether the obstacle is a moving obstacle or not. Inaddition, when making a decision of the moving obstacle, the movingobstacle detection deciding section 13 can make a decision as to whetherthe moving obstacle is approaching the vehicle 14 or not from thedifference between the current and previous results by obtaining thedistance to the obstacle from the detection results of the objectdetection sensor 4.

(3) Optimization of Search Frequency

The search frequency determining section 10 decides the search frequencyof the object detection sensors 4 in accordance with the decisionresults of the door mirror open/close deciding section 8, vehicle speeddeciding section 11 and moving obstacle detection deciding section 13.

FIG. 4 is a diagram showing search frequencies in each processing of thevehicle parking decision, moving obstacle detection and moving obstacledecision in a time series. The vehicle parking decision shown in FIG. 4is a decision signal transmitted from the vehicle speed deciding section11 to the search frequency determining section 10, and is turned on whenthe vehicle 14 is stopped (speed 0 km/h). While the decision signal ofthe vehicle speed deciding section 11 is kept off, the sensor system fora vehicle 1 is working in the search mode for the parking space andcarries out the search at the high search frequency as shown in FIG. 4.

After that, when the parking of the vehicle 14 is completed afterdetecting the parking space, the decision signal of the vehicle speeddeciding section 11 is turned on. This will cause the search frequencydetermining section 10 to make the search frequency lower than that inthe search mode for the parking space as shown in FIG. 4. In this way,the sensor system for a vehicle 1 shifts to a vehicle monitoring mode.

The moving obstacle detection shown in FIG. 4, which is a detectionsignal transmitted from the moving obstacle detection deciding section13 to the search frequency determining section 10, is turned on when theobject detection sensor 4 detects a moving obstacle. When the detectionsignal is turned on, the search frequency determining section 10increases the search frequency even in the vehicle monitoring mode asillustrated in FIG. 4.

The moving obstacle decision shown in FIG. 4, which is a decision signaltransmitted from the moving obstacle detection deciding section 13 tothe search frequency determining section 10, is turned on when themoving obstacle detected by the object detection sensor 4 is asignificant moving obstacle. The term “significant moving obstacle”refers to a person or the like approaching the vehicle 14 except for astatic obstacle exhibiting dynamic behavior such as branches and leavesof a tree swaying in the wind. When the decision signal is turned on,the search frequency determining section 10 maintains the searchfrequency increased by the moving obstacle detection as illustrated inFIG. 4. Thus, the search for the moving obstacle is continued at thehigh frequency.

Incidentally, although not shown in the drawing, if a decision is madethat the moving obstacle detected by the object detection sensor 4 isnot a significant moving obstacle (if the decision signal is off), it isalso possible to return the search frequency increased by the detectionof the moving obstacle to the low search frequency in the vehiclemonitoring mode.

In addition, although FIG. 4 shows a case where the search frequency isincreased when the moving obstacle is detected, a configuration is alsopossible which increases the search frequency when a decision is made,after detecting the moving obstacle, that the moving obstacle is furtherapproaching the vehicle 14.

As described above, according to the embodiment 1, since it includes theobject detection sensors 4 which are fixed to the door mirrors 2 andhave the search mode for the parking space for searching for an objectusing the ranges extending laterally from the vehicle 14 as thedetection areas 15 and the vehicle monitoring mode for searching for anobject using the rear lateral sides of the vehicle 14 as the detectionareas 15 by folding and retracting the door mirrors 2, and the controlsection 7 for driving the object detection sensors 4 when the vehicle 14is traveling at the vehicle speed less than the prescribed value, andfor making the search frequency of the object detection sensors 4 higherin the search mode for the parking space than in the vehicle monitoringmode, it can carry out, using the object detection sensors 4 mounted onthe door mirrors 2, the search for the parking space during travelingand the vehicle monitoring when the vehicle is stopped, and can changethe search frequency of the object detection sensors 4 in accordancewith the difference in the operation mode during traveling or beingstopped, or in accordance with the result of the vehicle monitoring.This makes it possible to expect to improve durability of the objectdetection sensors 4 and to reduce power consumption.

In addition, although the embodiment 1 does not refer to the mountingpositions of the object detection sensors 4 on the door mirrors 2 or thesearch direction of the object detection sensors 4, they can be dealtwith as follows.

FIG. 5 is a diagram showing a manner of mounting the object detectionsensor. As shown in FIG. 5, it can be mounted on at least one of the tipof the body of the door mirror 2 (object detection sensor 4 a), its top(object detection sensor 4 b) and its bottom (object detection sensor 4c).

Furthermore, the centerlines of the search direction of the objectdetection sensors 4 a-4 c are inclined downward so that the detectionareas 15 a-15 c are sloped toward a road surface. This enables detectingthe shoulder of a road simultaneously with the search for a parkingspace, thereby making it possible to detect the depth of the parkingspace and to detect the parking space more accurately.

FIG. 6 is a diagram showing a mode of the search directions of theobject detection sensors: FIG. 6( a) shows detection areas duringrunning; and FIG. 6( b) shows detection areas when the vehicle isstopped. As shown in FIG. 6( a), when the vehicle 14 is traveling, thedoor mirrors 2 are in the open state (at normal position). In this case,the centerlines of the search of the object detection sensors 4 are madefacing more frontward than the door mirrors 2. In this way, the rangeswhich face more frontward than the door mirrors 2 (the travelingdirection side denoted by arrows in FIG. 6( a)) and extend obliquelyfrom the vehicle 14 become the detection areas 15.

On the other hand, when the door mirrors 2 are made closed state, thedetection areas 15 shift to the rear lateral sides (side body 17 sides)of the vehicle 14. In this case, since the centerlines of the searchdirections of the object detection sensors 4 are inclined forward of thevehicle 14, unlike the case of FIG. 2( b), the detection areas 15 areformed separately from the side body 17 without overlapping it. In thisstate, it becomes the vehicle monitoring mode, and a search decision ofa moving obstacle 18 like a person is carried out.

When the centerlines of the search directions of the object detectionsensors 4 are made facing forward of the vehicle 14, the search for aparking space is carried out in the detection areas 15 facing frontlateral direction of the vehicle 14. This makes it possible to detectduring running an obstacle ahead more quickly than when the detectionareas extend at right angles from the vehicle 14.

In addition, the detection areas 15 facing forward of the vehicle 14enable increasing the reflecting area of an obstacle ahead. This makesit possible to detect the obstacle ahead more accurately during running.This will be described by way of example of the parallel parking shownin FIG. 3. Since the reflecting area of the search signal as to thevehicle 14 b ahead of the vehicle 14 increases, the distance profilenear the rear part of the vehicle 14 b to the edge portion 16 b can beobtained more accurately.

In the parallel parking, since the vehicle 14 is reversed, the driver isapt to disregard the distance to an obstacle ahead rather than to anobject behind the vehicle 14. For this reason, providing (with a warningor the like) the driver with the distance profile near the rear part tothe edge portion 16 b of the vehicle 14 b enables effective parkingsupport.

Furthermore, in the vehicle monitoring mode when the vehicle is stopped,since the detection areas 15 are separated from the side body 17 withoutbeing overlapped, the reception of unnecessary reflected signals fromthe side body 17 of the vehicle 14 can be reduced. This makes itpossible to suppress the formation of the dead zones due to thereception of the unnecessary reflected signals.

FIG. 7 is a diagram explaining the occurrence of a dead zone of theobject detection sensor. FIG. 7( a) shows the signal reception of theobject detection sensor 4 in a time series when there is no unnecessaryreflected signal from the side body 17. Without any unnecessaryreflected signals, the object detection sensor 4 receives only thereflected signal from the obstacle to be searched for.

If there are unnecessary reflected signals from the side body 17 of thevehicle 14 as shown in FIG. 7( b), the object detection sensor 4receives the unnecessary reflected signals from the side body 17 besidesthe reflected signal from the object to be searched for. As for aconfiguration that uses a single transmission and reception section incommon as both the transmission of the search signal and reception ofthe reflected signal, it cannot receive any other signals while it isreceiving the unnecessary reflected signals. In addition, even if atransmitting section and a receiving section are provided separately, ifthe unnecessary reflected signals go round to the receiving side, itcannot receive any other signals.

For this reason, while the object detection sensor 4 is receiving theunnecessary reflected signals as shown in FIG. 7( c), it becomes thetime domain of the dead zone in which the moving obstacle that isapproaching the vehicle 14 cannot be detected. Accordingly, forming thedetection areas 15 at the positions that do not overlap with the sidebody 17 makes it possible to reduce the search defect resulting from thereception of the unnecessary reflected signals from the side body 17.

Embodiment 2

Although the foregoing embodiment 1 shows a case which alters the searchfrequency that defines the search range of the object detection sensor,the present embodiment 2 alters the detection range and directivityangle that define the search range of the object detection sensors inaccordance with the difference in the operation mode of the systemduring running and at a stop.

In addition, although the basic configuration of the sensor system for avehicle of the embodiment 2 is the same as that of FIG. 1 described inthe foregoing embodiment 1, it differs in altering the search range inaccordance with the operation mode of the system during running and atrest owing to the structure of the object detection sensors and owing tothe operation control of the object detection sensors by thetransmission control section. In the following, the configuration of theembodiment 2 will be described with reference to FIG. 1 as well.

As for the alteration of the search range of the object detectionsensors 4, the detection range of the object detection sensors 4 isincreased and their directivity angle is broadened in the search modefor the parking space during running. In contrast, in the vehiclemonitoring mode when the vehicle is stopped, the detection range isreduced and the directivity angle is narrowed. The ultrasonic waves(search signal waves) emitted from the object detection sensors 4 areradiated with a conical expanse as shown in FIG. 8.

The present embodiment 2 employs, as shown in FIG. 8, a detection area15A with the directivity angle θ1 in the search mode for the parkingspace during running, and a detection area 15B with a directivity angleθ2 (θ1>θ2) in the vehicle monitoring mode when the vehicle is stopped.In addition, as shown in FIG. 9, it employs a detection area 15A with adetection range L1 in the search mode for the parking space duringrunning, and a detection area 15B with a detection range L2 (L1>L2) inthe vehicle monitoring mode when the vehicle is stopped.

In this way, in the search mode for the parking space, it can search foran obstacle in a broader search range from a distance from the vehicle14, thereby being able to detect the parking area more accurately. Inaddition, in the vehicle monitoring mode, it is enough to detect asignificant moving obstacle (like a person) approaching the vehicle 14at rest. For this reason, narrowing the search range as described abovemakes it possible to suppress the reception of the unnecessary reflectedsignals, to reduce the consumption power of the transmission, and tooperate the object detection sensors 4 more efficiently.

Next, the altering operation of the search range will be described.

(1) Alteration of Directional Angle of Ultrasonic Waves Defining SearchRange

FIG. 10 is a cross-sectional view showing a structure of the objectdetection sensor capable of altering the directivity angle of ultrasonicwaves: FIG. 10( a) shows a case of a broad directivity angle; and FIG.10( b) shows a case of narrow directivity angle. The object detectionsensor 4A shown in FIG. 10 has a structure including a ultrasonic sensorunit 20 having an oscillator 19 for generating ultrasonic waves and areflecting mechanism 21 composed of an elastic member contained in acylindrical case 22. The ultrasonic sensor unit 20 is fixed at aposition along the traveling direction of the ultrasonic waves denotedby an arrow outline with a blank inside in FIG. 10 with a supportingmember not shown.

The reflecting mechanism 21, which has a cylindrical shape having itsouter circumference stuck to the inner wall of the case 22, contains theultrasonic sensor unit 20 in its opening formed along the cylinder axis.The end face of the case 22 on the oscillator 19 side is nearly on thesame plain as the radiation surface of the ultrasonic waves of theoscillator 19. In addition, on the end face of the reflecting mechanism21 on the oscillator 19 side, a gradient 21 a is formed which declinestoward the oscillator 19 so that it can reflect the ultrasonic wavesemitted from the oscillator 19. Furthermore, the outer circumference 21b of the end face of the reflecting mechanism 21 on the oscillator 19side is fixed to the case 22.

A retracting mechanism 23, which is a mechanism for retracting thereflecting mechanism 21 in the C direction in FIG. 10( b), can beimplemented using a motor or electromagnet, for example. Incidentally,the retracting mechanism 23 retracts the reflecting mechanism 21 about1.5-2.0 mm.

In the case of FIG. 10( a), the reflecting mechanism 21 is not retractedby the retracting mechanism 23, and the angle of inclination of thegradient 21 a is small. When the ultrasonic waves are emitted from theoscillator 19 in this state, the ultrasonic waves spread in thedirection of the arrow in FIG. 10( a), thereby forming a detection area15A with broad directivity. Thus, in the search mode for the parkingspace, the object detection sensor 4A is set in the state of FIG. 10( a)to carry out the search.

On the other hand, when the retracting mechanism 23 retracts thereflecting mechanism 21, since the outer circumference 21 b is fixed tothe case 22, the reflecting mechanism 21 extends as shown FIG. 10( b)because of the elasticity, thereby making the angle of inclination ofthe gradient 21 a sharper. When the ultrasonic waves are emitted fromthe oscillator 19 in this state, the ultrasonic waves are reflected offthe gradient 21 a and go forward, thereby forming a detection area 15Bwith narrow directivity traveling in the direction of the arrow in FIG.10( b). Thus, in the vehicle monitoring mode, the object detectionsensor 4A is set in the state of FIG. 10( b) to carry out the search.

The structure of FIG. 10( b) can make the directivity of the ultrasonicwaves sharper by optimizing the angle of inclination of the gradient 21a by adjusting the amount of retraction of the retracting mechanism 23.This makes it possible to improve the detection accuracy of the objectdetection sensor 4A in the vehicle monitoring mode.

In addition, the directivity angle of the ultrasonic waves the objectdetection sensors 4 transmit can be altered as follows.

The directivity of the ultrasonic waves can be adjusted using thetransmission frequency as a parameter. For example, in the case of acircular oscillator, the directivity of the ultrasonic waves can beobtained by the following expression (1), where θ is a directivityangle, k is a constant, λ is the wavelength of the ultrasonic waves, andD is a diameter of the oscillator. In addition, denoting the speed ofsound by C, and the oscillation frequency by f, then λ=C/f.

θ=tan⁻¹(k·λ/D)   (1)

FIG. 11 is a graph showing relationships between the driving waveformand the oscillation frequency of the ultrasonic sensor, in which thevertical axis shows the transmission voltage of the ultrasonic waves,and the horizontal axis shows time. As shown in FIG. 11, the objectdetection sensor 4 transmits the ultrasonic waves by driving at a period1/f in accordance with a search command (measurement request pulse) fromthe transmission control section 9. In the foregoing expression (1), theconstant k and the diameter D of the oscillator are fixed, and the speedof sound C is nearly constant at the normal temperature.

The transmission control section 9 adjusts the transmitting timing ofthe search command according to the foregoing expression (1), therebyaltering the directivity angle θ of the ultrasonic waves emitted fromthe object detection sensors 4. Since the method can alter thedirectivity of the ultrasonic waves by electrical control of the objectdetection sensors 4, it can control the directivity with ease.

(2) Alteration of Detection Range Defining Search Range

FIG. 12 is a graph showing relationships between the impedance of theoscillator circuit of the object detection sensor and the transmissionfrequency of the ultrasonic waves. As shown in FIG. 12, the impedance ofthe oscillator circuit is minimum at the resonance frequency fr. On theother hand, at frequencies f1 and f2 other than the resonance frequencyfr, the impedance is greater as shown by broken lines in FIG. 12. Whendriving the object detection sensors 4 at low-voltage transmissionpulses, the transmission efficiency will reduce if the transmissionfrequency is set at the frequency f1 or f2, and the receiving level ofthe reflected signal becomes smaller. Thus, the detection range of theobject detection sensors 4 can be reduced.

Accordingly, controlling the object detection sensors 4 by thetransmission control section 9 enables them to transmit the ultrasonicwaves with the transmission frequency at the resonance frequency fr inthe search mode for the parking space during running, and with thetransmission frequency at the frequency f1 or f2 other than theresonance frequency fr in the vehicle monitoring mode when the vehicleis stopped. This makes it possible to extend the detection range of theobject detection sensors 4 in the search mode for the parking space, andto reduce the detection range in the vehicle monitoring mode when thevehicle is stopped. Since the method can alter the detection range bythe electrical control of the object detection sensors 4, it cansimplify the control of the detection range.

Alternatively, the detection range of the object detection sensors 4 canbe altered as follows.

FIG. 13 is a diagram for explaining the processing of altering thedetection range by the transmission voltage and transmission pulse widthof the ultrasonic waves, and shows the driving waveform of theultrasonic sensors. FIG. 13( a) shows the driving waveform as to whichthe transmission efficiency of the ultrasonic waves is optimized, inwhich the transmission voltage of ultrasonic waves is V1, thetransmission pulse width is t1, and the transmission pulse interval ist2. The relationships maximize the detection range of the objectdetection sensors 4.

FIG. 13( b) shows a case where the transmission voltage is reduced ascompared with the case shown in FIG. 13( a) (V1>V2). Such control candecrease the transmission efficiency of the ultrasonic waves emittedfrom the object detection sensors 4, thereby being able to reduce thereceived level of the reflected signal. In other words, it can decreasethe detection range of the object detection sensors 4.

In addition, FIG. 13( c) shows a case where the transmission pulse widtht1 is reduced as compared with the case shown in FIG. 13( a).Incidentally, the transmission voltage V3 is nearly the same as V1. Suchcontrol can also decrease the transmission efficiency of the ultrasonicwaves emitted from the object detection sensors 4, thereby being able toreduce the detection range.

Furthermore, FIG. 13( d) shows a case where the number of thetransmission pulses is reduced as compared with the case shown in FIG.13( a) (Pn>P3). Such control can also decrease the transmissionefficiency of the ultrasonic waves emitted from the object detectionsensors 4, thereby being able to reduce the detection range.

Controlling the object detection sensors 4 by the transmission controlsection 9 enables them to be driven with the relationship shown in FIG.13( a) in the search mode for the parking space during running, and withone of the relationships from FIG. 13( b) to FIG. 13( d) in the vehiclemonitoring mode when the vehicle is stopped. Since the method can varythe detection range of the object detection sensors 4 by the electricalcontrol, it can simplify the control of the detection range.

As described above, according to the present embodiment 2, the controlsection 7 alters the search range of the object detection sensors 4 inaccordance with the difference in the search mode for the parking spaceand the vehicle monitoring mode, and particularly makes the directivitynarrower and the detection range shorter in the vehicle monitoring modethan in the search mode for the parking space. This makes it possible tosearch for an obstacle in a broader search range from a greater distancein the search mode for the parking space during running, thereby beingable to detect the parking area more accurately during running. Inaddition, narrowing the search range in the vehicle monitoring mode cansuppress the reception of the unnecessary reflected signals and reducethe consumption of the transmission power, thereby being able to operatethe object detection sensors 4 more efficiently.

Embodiment 3

FIG. 14 is a block diagram showing a configuration of a sensor systemfor a vehicle of an embodiment 3 in accordance with the presentinvention. The sensor system for a vehicle of the embodiment 3 adds anAND circuit section (driving command informing section) 24 for decidinga parking state of the vehicle to the configuration shown in theforegoing embodiment 1. Incidentally, in FIG. 14, the same components asthose of FIG. 1 are designated by the same reference numerals, and thedescription of them is omitted here.

The AND circuit section 24 receives the output of the vehicle speedsensor 6, a shift lever position signal, a vehicle power-off signal anda door lock detection signal, and transmits a driving command to thedoor mirror controller 5 when all the input signals show that thevehicle is stopped.

For example, when the vehicle speed is 0 km/h, when the shift lever isplaced in the parking range, when the vehicle power is off, and when thedoor is locked, the output of the vehicle speed sensor 6, the shiftlever position signal, the vehicle power-off signal and the door lockdetection signal are assumed to be logic value 1 (true value),respectively. Thus, only when the vehicle meets all the foregoingconditions, the driving command can be transmitted to the door mirrorcontroller 5.

Receiving the driving command from the AND circuit section 24, the doormirror controller 5 folds and retracts the door mirrors 2 (closed state)by controlling the driving mechanism.

As described above, according to the present embodiment 3, since it hasthe AND circuit section 24 for detecting that the vehicle 14 is stoppedand for folding and retracting the door mirrors 2, it can automaticallyplace the door mirrors 2 in the closed state in connection with thestate of the vehicle, thereby being able to shift to the vehiclemonitoring mode without fail.

Embodiment 4

FIG. 15 is a diagram showing a combination deciding section of a sensorsystem for a vehicle of an embodiment 4 in accordance with the presentinvention. Being added to the configuration of FIG. 1 described in theforegoing embodiment 1, a combination deciding section 25 combines adecision result of a moving obstacle and a proximity decision result ofan immobilizer, and makes a decision as to the issue or release of analarm and as to the search frequency.

The combination deciding section 25 has AND circuits 26 a and 26 b and aNOT circuit 27 as shown in FIG. 15( a). The AND circuit 26 a has itsinput side connected to the moving obstacle detection deciding section13 and to an immobilizer proximity decision unit 29, and its output toan alarm unit 28 and the search frequency determining section 10. TheNOT circuit 27 has its input side connected to the immobilizer proximitydecision unit 29, and its output connected to the AND circuit 26 b. TheAND circuit 26 b has its input side connected to the output of the NOTcircuit 27 and the moving obstacle detection deciding section 13, andhas its output connected to the search frequency determining section 10.

The moving obstacle detection deciding section 13 outputs a logic value1 (true value) as the decision signal of a moving obstacle when itdecides that the moving obstacle detected by the object detectionsensors 4 is a significant moving obstacle. In this case, if theimmobilizer proximity decision unit 29 decides the proximity of theimmobilizer embedded in a private key of the driver, it outputs a logicvalue 1 (true value) as an immobilizer signal.

In this case, the output of the AND circuit 26 a becomes logic value 1(true value), and a decision is made that the driver approaches as shownin FIG. 15( b). The output value of the AND circuit 26 a is delivered tothe alarm unit 28, and to the search frequency determining section 10 asthe search frequency decision A. Receiving the output value of the ANDcircuit 26 a, the alarm unit 28 releases the alarm issued when theobject detection sensor 4 detects the moving obstacle. In addition,receiving the search frequency decision A, the search frequencydetermining section 10 continues the previous low search frequency.Thus, the object detection sensors 4 continue the search at the lowsearch frequency.

On the other hand, the AND circuit 26 b receives the decision signal ofthe moving obstacle and the immobilizer signal via the NOT circuit 27.Accordingly, even if the immobilizer signal is logic value 0 (falsevalue), if the decision of the moving obstacle is logic value 1 (truevalue), the output of the AND circuit 26 b becomes logic value 1 (truevalue). In this case, a decision is made that an animal other than thedriver approaches as shown in FIG. 15( b).

The decision result is delivered to the search frequency determiningsection 10 as the search frequency decision B. Receiving the searchfrequency decision B, the search frequency determining section 10increases the search frequency, and notifies the transmission controlsection 9. In response to the control of the transmission controlsection 9, the object detection sensors 4 start the search at the highsearch frequency. Thus, they can detect a significant moving obstacleother than the driver accurately.

As described above, according to the present embodiment 4, since thecontrol section 7 controls whether to issue the alarm or not and thesearch frequency of the object detection sensors 4 in accordance withthe detection result of the moving obstacle by the moving obstacledetection deciding section 13 and the proximity of the immobilizer tothe vehicle, it can prevent, by adding the proximity of the immobilizerto a decision factor, a false alarm when a decision is made that thedriver is a moving obstacle.

INDUSTRIAL APPLICABILITY

As described above, since the sensor system for a vehicle in accordancewith the present invention is configured in such a manner as to includethe object detection sensors which are fixed to the door mirrors andhave the first search mode for searching for an object using the rangesextending laterally from the vehicle as the detection areas and thesecond mode for searching for an object using the rear lateral sides ofthe vehicle as the detection areas by folding and retracting the doormirrors, and the control section for driving the object detectionsensors and for making the search frequency of the object detectionsensors higher in the first search mode than in the second search modewhen the vehicle is traveling at the vehicle speed less than theprescribed value, it can detect the parking space accurately because itsearches for the parking space at the higher search frequency than inthe vehicle monitoring, can achieve power saving in the vehiclemonitoring mode, and can drive the object detection sensors efficiently.Accordingly, it is suitably applied to the sensor system for a vehiclemounted on the door mirrors.

1. A sensor system for a vehicle comprising: an object detection sensorwhich is mounted on a door mirror, and has a first search mode forsearching for an object using a range extending laterally from a vehicleas a detection area, and a second search mode for searching for anobject using a rear lateral side of the vehicle as a detection area byfolding and retracting the door mirror; and a control section forcausing the object detection sensor to be driven when the vehicletravels at a speed equal to or less than a prescribed value, and formaking a search frequency of the object detection sensor higher in thefirst search mode than in the second search mode.
 2. The sensor systemfor a vehicle according to claim 1, further comprising an objectdetection deciding section for deciding a parking possible area bydetecting an obstacle from search results successively obtained from theobject detection sensor in the first search mode.
 3. The sensor systemfor a vehicle according to claim 1, further comprising a moving obstacledetection deciding section for detecting a moving obstacle from a resultof comparing a past search result with a current search result of theobject detection sensor in the second search mode.
 4. The sensor systemfor a vehicle according to claim 3, wherein the control sectionincreases the search frequency of the object detection sensor when themoving obstacle detection deciding section detects the moving obstacle.5. The sensor system for a vehicle according to claim 3, wherein themoving obstacle detection deciding section decides approach of themoving obstacle to the vehicle by comparing previous and current searchresults obtained by the object detection sensor; and the control sectionincreases the search frequency of the object detection sensor when themoving obstacle detection deciding section detects the moving obstacle,and decides that the moving obstacle is approaching the vehicle.
 6. Thesensor system for a vehicle according to claim 3, wherein the controlsection controls whether to issue an alarm or not and controls thesearch frequency of the object detection sensor in response to thedetection result of the moving obstacle by the moving obstacle detectiondeciding section and in response to proximity of an immobilizer to thevehicle.
 7. The sensor system for a vehicle according to claim 1,wherein the object detection sensor searches for an object downward froma horizontal plane.
 8. The sensor system for a vehicle according toclaim 1, wherein the object detection sensor searches for an objectusing a range which faces more frontward than the door mirror andextends obliquely from the vehicle as the detection area in the firstsearch mode.
 9. The sensor system for a vehicle according to claim 1,wherein the control section alters the search range of the objectdetection sensor in accordance with a difference in the first and secondsearch modes.
 10. The sensor system for a vehicle according to claim 9,wherein the control section alters the search range by adjustingdirectivity of a search signal transmitted from the object detectionsensor.
 11. The sensor system for a vehicle according to claim 10,wherein the control section narrows the directivity in the second searchmode than in the first search mode.
 12. The sensor system for a vehicleaccording to claim 10, wherein the object detection sensor is aultrasonic sensor; and the control section adjusts the directivity ofultrasonic waves transmitted from the ultrasonic sensor in accordancewith a transmission frequency of the ultrasonic waves.
 13. The sensorsystem for a vehicle according to claim 10, wherein the object detectionsensor is a ultrasonic sensor whose horn for emitting the ultrasonicwaves has a variable shape; and the control section adjusts thedirectivity of the ultrasonic waves transmitted from the ultrasonicsensor by controlling the variable shape of the horn.
 14. The sensorsystem for a vehicle according to claim 9, wherein the control sectionalters the search range by adjusting the detection range of the objectdetection sensor.
 15. The sensor system for a vehicle according to claim14, wherein the control section makes the detection range in the secondsearch mode shorter than that in the first search mode.
 16. The sensorsystem for a vehicle according to claim 14, wherein the object detectionsensor is a ultrasonic sensor; and the control section adjusts thedetection range of the ultrasonic waves transmitted from the ultrasonicsensor in response to at least one of transmission voltage, transmissionfrequency and transmission pulse width of the ultrasonic waves.
 17. Thesensor system for a vehicle according to claim 1, further comprising adriving command informing section for causing the door mirror to befolded and retracted when detecting that the vehicle is stopped.